Copy animation to other Object
Select the animated object and copy strg+c all the key frames in the Dope sheet editor 
Set key frame on all channels were you want to paste on your target object. otherwise, you cant paste there. 
Paste strg+v your key frames on the target object 
Since you pasted the location of object on your objects are now inside each other. You most likeley want to tweak the animations in the graph editor.